short search(){
printf("SEARCHING\n");
short nodes[4][3]={{0,0,0},{0,0,0},{0,0,0},{0,0,0}};
short x = position[0];
short y = position[1];
//map[x][y+6][0] = Robot_GetIntersections(); //Kreuzung erhalten
unsigned short intersection = mapIntersection(x, y + 6);
fillNodes(nodes, intersection/16); //Knoten füllen
fillUsed(nodes); //existierende Knoten auf "besucht" testen
map[x][y+6][1] = 2; //Kreuzung auf "besucht" stellen
if (findWay(nodes) == 1){ //Weg finden
return 1;
}
return 0;
}
void intersectionOfMatchResults(const std::vector<MatchResult>& forward,
const std::vector<MatchResult>& reverse,
std::vector<MatchResult>& matches) {
// Convert to maps.
std::map<Match, double> forward_set;
std::map<Match, double> reverse_set;
std::transform(forward.begin(), forward.end(),
std::inserter(forward_set, forward_set.begin()), matchResultToPair);
std::transform(reverse.begin(), reverse.end(),
std::inserter(reverse_set, reverse_set.begin()), matchResultToPair);
// Take intersection of maps.
std::map<Match, double> match_set;
mapIntersection(forward_set.begin(), forward_set.end(), reverse_set.begin(),
reverse_set.end(), std::inserter(match_set, match_set.begin()));
// Convert to list.
matches.clear();
std::transform(match_set.begin(), match_set.end(),
std::back_inserter(matches), pairToMatchResult);
}